1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
|
#include <iostream>
#include <string>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include "samplePubSubTypes.h"
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
void latejoiners();
int main()
{
latejoiners();
return 0;
}
void latejoiners()
{
TypeSupport sampleType(new samplePubSubType());
sample my_sample;
SampleInfo sample_info;
//Create Participant
DomainParticipantQos pqos;
pqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
pqos.name("PublisherParticipant");
DomainParticipant* PubParticipant = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (PubParticipant == nullptr)
{
std::cout << " Something went wrong while creating the Publisher Participant..." << std::endl;
return;
}
//Register Type
sampleType.register_type(PubParticipant);
//Create Publisher
std::cout << "Creating Publisher..." << std::endl;
Publisher* myPub = PubParticipant->create_publisher(PUBLISHER_QOS_DEFAULT);
if (myPub == nullptr)
{
std::cout << "Something went wrong while creating the Publisher..." << std::endl;
return;
}
//Create Topic
Topic* PubTopic = PubParticipant->create_topic("samplePubSubTopic", sampleType.get_type_name(), TOPIC_QOS_DEFAULT);
if (PubTopic == nullptr)
{
std::cout << "Something went wrong while creating the Publisher Topic..." << std::endl;
return;
}
//Create DataWriter
DataWriterQos wqos;
wqos.history().kind = KEEP_ALL_HISTORY_QOS;
wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
wqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
DataWriter* myWriter = myPub->create_datawriter(PubTopic, wqos);
//Send 20 samples
std::cout << "Publishing 20 samples on the topic" << std::endl;
for (uint8_t j = 0; j < 20; j++)
{
my_sample.index(j + 1);
my_sample.key_value(1);
myWriter->write(&my_sample);
}
std::this_thread::sleep_for(std::chrono::milliseconds(1500));
//Create Subscriber Participant
DomainParticipantQos pqos1;
pqos1.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
pqos1.name("SubscriberParticipant");
DomainParticipant* SubParticipant = DomainParticipantFactory::get_instance()->create_participant(0, pqos1);
if (SubParticipant == nullptr)
{
std::cout << " Something went wrong while creating the Subscriber Participant..." << std::endl;
return;
}
//Register Type
sampleType.register_type(SubParticipant);
//Transient Local Sub
std::cout << "Creating Transient Local Subscriber..." << std::endl;
Subscriber* mySub1 = SubParticipant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
if (mySub1 == nullptr)
{
std::cout << "something went wrong while creating the Transient Local Subscriber..." << std::endl;
return;
}
//Create Topic
Topic* SubTopic = SubParticipant->create_topic("samplePubSubTopic", sampleType.get_type_name(), TOPIC_QOS_DEFAULT);
if (SubTopic == nullptr)
{
std::cout << "something went wrong while creating the Subscribers Topic..." << std::endl;
return;
}
//Create DataReader
DataReaderQos rtqos;
rtqos.history().kind = KEEP_ALL_HISTORY_QOS;
rtqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
rtqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
DataReader* myReader1 = mySub1->create_datareader(SubTopic, rtqos);
if (myReader1 == nullptr)
{
std::cout << "something went wrong while creating the Transient Local Subscriber DataReader..." << std::endl;
return;
}
//Volatile Sub
std::cout << "Creating Volatile Subscriber..." << std::endl;
Subscriber* mySub2 = SubParticipant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
if (mySub2 == nullptr)
{
std::cout << "something went wrong while creating the Volatile Subscriber..." << std::endl;
return;
}
//Create DataReader
DataReaderQos rvqos;
rvqos.history().kind = KEEP_ALL_HISTORY_QOS;
rvqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
rvqos.durability().kind = VOLATILE_DURABILITY_QOS;
DataReader* myReader2 = mySub2->create_datareader(SubTopic, rvqos);
if (myReader2 == nullptr)
{
std::cout << "something went wrong while creating the Volatile Subscriber DataReader..." << std::endl;
return;
}
// Wait for volatile reader to match with writer, otherwise it may consider the new samples as historical
// TODO(jlbueno) A condition variable that is notified when the reader has matched would be great
// Previously the example used not implemented API DataReader::get_matched_publications which is always returning
// RETCODE_UNSUPPORTED.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
//Send 20 samples
std::cout << "Publishing 20 samples on the topic..." << std::endl;
for (uint8_t j = 0; j < 20; j++)
{
my_sample.index(j + 21);
my_sample.key_value(1);
myWriter->write(&my_sample);
}
std::this_thread::sleep_for(std::chrono::milliseconds(1500));
//Read the contents of both histories:
std::cout << "The Transient Local Subscriber holds: " << std::endl;
while (myReader1->read_next_sample(&my_sample, &sample_info) == ReturnCode_t::RETCODE_OK)
{
std::cout << std::to_string(my_sample.index()) << " ";
}
std::cout << std::endl;
std::cout << "The Volatile Subscriber holds: " << std::endl;
while (myReader2->read_next_sample(&my_sample, &sample_info) == ReturnCode_t::RETCODE_OK)
{
std::cout << std::to_string(my_sample.index()) << " ";
}
std::cout << std::endl;
mySub2->delete_datareader(myReader2);
mySub1->delete_datareader(myReader1);
SubParticipant->delete_subscriber(mySub1);
SubParticipant->delete_subscriber(mySub2);
SubParticipant->delete_topic(SubTopic);
DomainParticipantFactory::get_instance()->delete_participant(SubParticipant);
myPub->delete_datawriter(myWriter);
PubParticipant->delete_publisher(myPub);
PubParticipant->delete_topic(PubTopic);
DomainParticipantFactory::get_instance()->delete_participant(PubParticipant);
}
|
